std_msgs/Header header

int32 fuse_obj_num

# CIPV(路径上最近的车辆)的id
int32 cipv_id

# CIPV的可用性 (invalid:0 valid:1)
int8 cipv_valid

# CIPV的TTC (range:0~10 uint:s)
float32 cipv_ttc

# CIPV的HWM(车间时距 = 距离/自车速度)状态 (invalid:0 valid:1)
int8 cipv_hwm_valid

# CIPV的HWM (range 0.02~10.22  uint:s)
float32 cipv_hwm

# MCP (Most Critical Pedestrian:最关键行人)的id
int32 mcp_id

# MCP的状态 (invalid:0 valid:1)
int8 mcp_valid

# MCP的TTC(range:0~10 uint:s)
float32 mcp_ttc

FuseObject[] fuse_objects
